Development of Strain Distribution Sensor Having Curved Surface for Grip Force Control

In this study we develop a strain distribution sensor to lift a object by fingers without producing whole slip or applying excessive force even when the weight and the friction coefficient of the object are unknown. Strain gages bonded on thin plates are arranged at even intervals inside an elastic finger having curved surface made of silicone rubber. Geometry of the elastic finger is designed by calculating the contact condition between the finger and a plate with/without tangential load using a FE (finite element) analysis. We also measured the characteristics of the strain distribution sensor. Results show that the grip force can be controlled using the designed strain distribution sensor.